I recently built a BRAT, but when I tried to get it to walk, I found it to be too complex for me at the moment. So I downgraded to a BRAT Jr. and made some sequences for the SSC-32 connected to the Basic Atom. So far I got it to walk Forward and Backward (same sequence as forward except the hips go in opposite directions). Right now I’m working on making it turn Left and Right. I will post the code soon after I finish it. And as for a video, I have to install Windows XP on my pc because my video camera drivers aren’t compatible (it’s just one thing after another. ).
As I said before, I will post the code when its finished. Also, when I get an Accelerometer, I will keep the Pan & Tilt from tilting so I can attach an IR sensor to detect obstacles in it’s path.
I have a question. Why does the BRAT Jr. not walk very strait?
Great work wowy7! That little walker looks like a lot of fun
Maybe the Brat isn’t walking strait because one leg got a longer travel distance or lifts the leg a little bit earlier from the ground. Or one feet got a little bit more grip then the other? Don’t know…
Did you check if all servos are correctly initialized to the middle position and did you check if they have the same “pulselength per degreeâ€
thinking small for a moment… it’s got only 6 servos… so I can’t help but wonder if a program for the BAP could be written to implement a subset of the ssc-32 commands, in particular the group move. then you could use one of the small bluetooth adapters on the hardware serial lines to the BAP and a small cheap wireless video camera to tie back to a PC. it would be a minimal electronics payload on the bratjr that could be driven from a visualbasic app or some such thing… wirelessly… could even send the 2 gyro axis and a couple irpd voltages back for “processing” as well. 8)
Yep, you can use the HSERVO commands to do this. The TV Brat has code in it that does this. If you look at the Movement function it does the calculations to get all of the servos to the end points at the same time…
I also think Xan is using something similar on his new Rover code.
Xan, just so you know I did make sure the lags were at the exact angle. I actually this the problem is I had it walking too fast. whenever it takes a step it kinda slams its foot into the ground. I will be adding a gyro, as well as a wireless camera. My BRAT Jr. will be able to carry the SSC-32 as well and not have any problems with weight because I cam using 475’s. I have a little program in development for the robot as well.
Eddie, as fun as that would be, I don’t have a BAP. Only Basic Atom.
As you can (probably) see, it’s not quite functional yet. I have yet too add the servo positions to the listbox and send them to the SSC-32. Besides that, it’s almost up and running.
Just a little reaction on this, I don’t want to hijack this threat
You’re totally right on this. I borrowed Nathan’s group move from the TV Brat and did some modifications to let it do his calculations and servo movement parallel. I have to say it’s way more complex then just having a SSC but it works!
It was just a thought
I like the ideas you’ve got with the jr. What do you use for your connection? Wifi, Bluetooth or XBee?
And do you have a cam in mind? I’m looking for a small cam with a good price/quality.
You’re program looks good. I see you’re using visual studio. Are you building it in C# .net?
I’ve read about those cam’s need fine tuning every time the battery power drops a bit. I was looking for something with 2.4GHz but then again, I don’t know if it interferes with my RC…
It’s hard to find any reviews from those cheap cams.
I promise you, they do interfere with the 2,4 GHz RC. I tried a spycam 2,4 GHz together with both Futaba and Spectrum 2,4 GHz, and ones you turned on the RC you got alot of interference.
I’ve seen some with 4 channels, do you think they will also interfere with the RC? I wish they made spycams with wifi. Or a small wifi module that could send cam signals. But lets not hijack this threat. I’ll start a new one about this subject.
).
thinking small for a moment… it’s got only 6 servos… so I can’t help but wonder if a program for the BAP could be written to implement a subset of the ssc-32 commands, in particular the group move. then you could use one of the small bluetooth adapters on the hardware serial lines to the BAP and a small cheap wireless video camera to tie back to a PC. it would be a minimal electronics payload on the bratjr that could be driven from a visualbasic app or some such thing… wirelessly… could even send the 2 gyro axis and a couple irpd voltages back for “processing” as well. 8)